Single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism

Abstract

The invention relates to the technical field of ankle joint rehabilitation equipment, in particular to a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism which comprises a base, a support, a spherical four-bar mechanism, a U-shaped frame, an ankle placement seat, a connecting plate, an expansion module and two groups of fixing modules. Further, the ankle placing seat is driven to rotate up and down in a reciprocating manner and the U-shaped frame is driven to rotate left and right in a reciprocating manner, so that spatial compound motion of ankle joint dorsal stretching / plantar flexion, inward turning / outward turning and inward turning / outward turning is realized; the expansion module meets the treatment requirements of patients with different foot types, so that the applicable crowd is further expanded; the stability of the ankle is enhanced through the two fixing modules, and the risk of secondary injury of the ankle joint is effectively prevented; the mechanism has the advantages of being simple in structure, easy to operate, low in cost and the like, under the condition that the mechanism does not depend on a complex control system, the mechanism can be effectively fastened while being matched with different foot types of patients with ankle joint injuries, and passive rehabilitation training is synchronously carried out.

Description

Technical Field

[0001] The invention relates to the technical field of ankle joint rehabilitation equipment, and in particular to a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism. Background Art

[0002] The ankle joint is one of the important weight-bearing and motion joints in the human body. It has complex three-dimensional motion characteristics and is mainly responsible for supporting the weight of the human body and achieving flexible movement of the foot. In daily life and sports, ankle injuries are extremely common, which not only affects the patient's normal life, but may also cause functional disorders and long-term chronic pain, significantly reducing the patient's quality of life. In order to restore the patient's joint function early and reduce complications, scientific and reasonable rehabilitation training is particularly important.

[0003] At present, rehabilitation training for ankle injuries mainly includes manual rehabilitation, physical therapy and functional training. Among them, physical therapy and manual rehabilitation mostly rely on the technical level and experience of the rehabilitation therapist, and there are problems such as difficult standardization of operation, low efficiency and poor patient training compliance. Functional training is mostly carried out with the help of rehabilitation devices. However, although the ankle rehabilitation devices on the current market can help to restore the function of the ankle joint to a certain extent, they still have certain limitations in practical applications: First, the existing ankle rehabilitation devices are mostly multi-degree-of-freedom structures, and their complex mechanical design makes the device costly and large in size, which is not easy to promote and apply; second, facing patients with different foot shapes, the ankle placement seat of the current ankle rehabilitation device fails to achieve effective fit with the patient's foot shape; third, the ankle fixation method of the currently widely used ankle rehabilitation device fails to effectively ensure stability, thereby increasing the risk of secondary ankle injury.

[0004] In order to address the shortcomings of the existing technology, a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism is provided. The mechanism has the characteristics of simple structure, easy operation and low cost. It can adapt to the different foot shapes of patients with ankle injuries without relying on a complex control system, and can be effectively tightened, and passive rehabilitation training can be performed simultaneously, thereby meeting the rehabilitation needs of patients with different degrees of joint injuries and reducing the risk of re-injury. Summary of the invention

[0005] The purpose of the present invention is to provide a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism.

[0006] The present invention adopts the following technical solution:

[0007] A single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism comprises a base, a bracket, a spherical four-bar mechanism, a U-shaped frame, an ankle placement seat, a connecting plate, an expansion module and two groups of fixing modules, wherein the bracket is fixedly connected to the base and is located above the base, the U-shaped frame is movably connected to the bracket and is located above the bracket, the ankle placement seat is movably connected to the U-shaped frame and is located inside the U-shaped frame, the connecting plate is fixedly connected to the ankle placement seat and is located above the ankle placement seat, the expansion module is connected to the ankle placement seat, and the two groups of fixing modules are both connected to the ankle placement seat and are both located above the ankle placement seat.

[0008] Among them, the spherical four-bar mechanism includes a first curved bar, a second curved bar, a third curved bar and a fourth curved bar, the first curved bar is fixedly connected to the bracket and is located on the bracket, the fourth curved bar is movably connected to the connecting plate and is located on the outer side of the connecting plate, the two ends of the second curved bar are movably connected to the first curved bar and the fourth curved bar respectively, and the two ends of the third curved bar are movably connected to the first curved bar and the fourth curved bar respectively.

[0009] Among them, the expansion module includes an expansion plate, a plug-in plate, a supporting spring and a supporting block, the ankle placement seat has a movable groove and a plurality of fixing holes, one end of the plug-in plate is fixedly connected to the expansion plate, the other end of the plug-in plate is slidably connected to the ankle placement seat and is located in the movable groove, the plug-in plate has a groove, the supporting block is respectively adapted to the groove and the plurality of fixing holes, the supporting spring is arranged in the groove and fixedly connected to the supporting block.

[0010] Among them, the fixing module includes a sliding rod, a limiting spring, a sleeve and a stopper, the sliding rod is slidably connected to the ankle placement seat and passes through the ankle placement seat, the stopper is fixedly connected to one end of the sliding rod, the sleeve is fixedly connected to the other end of the sliding rod, and the two ends of the limiting spring are respectively fixedly connected to the sleeve and the ankle placement seat, and are sleeved on the outer wall of the sliding rod.

[0011] The single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism of the present invention, when treating a patient, first, adjust the expansion module to the size of the patient's foot, and place the patient's ankle in the ankle placement seat, and then use the two sets of fixing modules to stabilize the patient's ankle, and then connect the output end of the motor to the end where the first curved rod and the second curved rod meet, and drive the second curved rod to rotate in a circle by setting a motor, and the other end of the second curved rod pulls the fourth curved rod, and the fourth curved rod rotates with a single degree of freedom according to a trajectory, and the fourth curved rod pulls the ankle placement seats through the connecting plate. The seat reciprocates up and down and the U-shaped frame reciprocates left and right above the bracket, and its rotational movement can better simulate the natural movement trajectory of the ankle joint, realize the spatial compound movement of ankle joint dorsiflexion / plantar flexion, inversion / eversion, internal rotation / external rotation, and the patient's ankle is driven by the ankle placement seat, and the patient's ankle does not need to apply force, and the patient's ankle can be passively rehabilitated. Through the above method, the needs of patients with different foot shapes are met, the scope of application is expanded, the stability of the ankle is increased, the risk of secondary injury is avoided, the hands of the rehabilitation therapist are released, the labor intensity is greatly reduced, and the recovery of ankle joint function is effectively promoted.

[0012] The beneficial effects of the present invention are:

[0013] The present invention provides a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism, which utilizes a motor to drive a single-degree-of-freedom rotation of a spherical four-bar mechanism, thereby driving an ankle placement seat to reciprocate up and down and a U-shaped frame to reciprocate left and right, thereby realizing spatial compound movements of ankle joint dorsiflexion / plantar flexion, inversion / eversion, and internal rotation / external rotation. By using an expansion module, the treatment needs of patients with different foot types are effectively met, thereby further expanding the applicable population. By using two sets of fixing modules, the stability of the ankle is enhanced, the risk of ankle joint injury again is effectively prevented, and the work intensity of the rehabilitation therapist is greatly reduced, thereby more effectively promoting the recovery of the patient's ankle joint function. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism of the present invention.

[0015] Figure 2 It is a structural side view of the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism of the present invention.

[0016] Figure 3 It is a structural top view of the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism of the present invention.

[0017] Figure 4 It is a cross-sectional view of the internal structure of the expansion component of the present invention.

[0018] Figure 5 The present invention Figure 4 A magnified view of the local structure at A.

[0019] In the figure, 100-base, 101-bracket, 102-first curved rod, 103-second curved rod, 104-third curved rod, 105-fourth curved rod, 106-U-shaped frame, 107-ankle placement seat, 108-connecting plate, 109-expansion plate, 110-plug-in plate, 111-resisting spring, 112-resisting block, 113-movable groove, 114-fixing hole, 115-groove, 116-sliding rod, 117-limiting spring, 118-jacket, 119-stop block. DETAILED DESCRIPTION

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0021] See also Figure 1~Figure 5 The present invention provides a single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism, comprising a base 100, a bracket 101, a first curved rod 102, a second curved rod 103, a third curved rod 104, a fourth curved rod 105, a U-shaped frame 106, an ankle placement seat 107 and a connecting plate 108, wherein the bracket 101 is fixedly connected to the base 100 and is located above the base 100, the U-shaped frame 106 is movably connected to the bracket 101 and is located above the bracket 101, the ankle placement seat 107 is movably connected to the U-shaped frame 106 and is located on the U-shaped frame 106, the connecting plate 108 is fixedly connected to the ankle rest seat 107 and is located above the ankle rest seat 107, the first curved rod 102 is fixedly connected to the bracket 101 and is located on the bracket 101, the fourth curved rod 105 is movably connected to the connecting plate 108 and is located on the outside of the connecting plate 108, the two ends of the second curved rod 103 are movably connected to the first curved rod 102 and the fourth curved rod 105 respectively, and the two ends of the third curved rod 104 are movably connected to the first curved rod 102 and the fourth curved rod 105 respectively.

[0022] In this embodiment, when treating a patient, the patient's ankle is first placed in the ankle placement seat 107, and a motor is set up, and the output end of the motor is connected to the junction of the first curved rod 102 and the second curved rod 103, and the motor is used to drive the second curved rod 103 to rotate in a circle, and the other end of the second curved rod 103 pulls the fourth curved rod 105, and the third curved rod 104 moves with the fourth curved rod 105. The fourth curved rod 105 moves along a trajectory and rotates with a single degree of freedom. The fourth curved rod 105 is connected The plate 108 pulls the ankle support seat 107 to rotate up and down and the U-shaped frame 106 to rotate left and right above the bracket 101. The rotational movement can better simulate the natural movement trajectory of the ankle joint, and realize the spatial compound movement of ankle joint dorsiflexion / plantar flexion, inversion / eversion, internal rotation / external rotation. The patient's ankle is driven by the ankle support seat 107, and the patient's ankle does not need to apply force, and the patient's ankle can be passively rehabilitated. Through the above method, the hands of the rehabilitation therapist are effectively freed, the labor intensity is greatly reduced, and it is beneficial to the rehabilitation of the patient's ankle joint function.

[0023] Furthermore, the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism also includes an expansion module, and the expansion module is connected to the ankle placement seat 107.

[0024] In this embodiment, by providing the expansion module on the ankle rest seat 107, the use length of the ankle rest seat 107 can be increased by utilizing the expansion module, thereby being able to meet the needs of patients with different foot shapes and sizes and increasing the scope of application.

[0025] Furthermore, the expansion module includes an expansion plate 109, a plug-in plate 110, a supporting spring 111 and a supporting block 112, the ankle placement seat 107 has a movable groove 113 and a plurality of fixing holes 114, one end of the plug-in plate 110 is fixedly connected to the expansion plate 109, the other end of the plug-in plate 110 is slidably connected to the ankle placement seat 107 and is located in the movable groove 113, the plug-in plate 110 has a groove 115, the supporting block 112 is respectively adapted to the groove 115 and the plurality of fixing holes 114, the supporting spring 111 is arranged in the groove 115 and is fixedly connected to the supporting block 112.

[0026] In this embodiment, when treating patients with different foot shapes, the expansion board 109 is first adjusted according to the size of the patient's foot, and the abutment block 112 is pressed into the groove 115 of the plug-in board 110, and the abutment block 112 squeezes the abutment spring 111 in the groove 115, and then the expansion board 109 is pulled outward, and the expansion board 109 drives the plug-in board 110 to move outward in the movable groove 113 of the ankle placement seat 107. After the expansion board 109 is moved into place, The force of the resisting spring 111 is used to drive the resisting block 112 into the corresponding fixing hole 114 of the ankle seat 107, and the plug-in board 110 is fixed in the ankle seat 107. Subsequently, a sponge pad of corresponding length can be laid between the expansion board 109 and the ankle seat 107 to facilitate the placement of the patient's foot, and then the patient's ankle joint can be rehabilitated. Through the above method, the usable length of the ankle seat 107 can be increased to meet the needs of patients with different foot shapes, thereby expanding the scope of application.

[0027] Furthermore, the single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism also includes two groups of fixing modules, and the two groups of fixing modules are both connected to the ankle placement seat 107 and are both located above the ankle placement seat.

[0028] In this embodiment, by arranging the two sets of fixing modules on the ankle rest seat 107, the ankle of the patient placed on the ankle rest seat 107 can be tightened by using the two sets of fixing modules, thereby reducing the risk of secondary injury.

[0029] Furthermore, the fixing module includes a sliding rod 116, a limiting spring 117, a sleeve 118 and a stopper 119. The sliding rod 116 is slidably connected to the ankle seat 107 and passes through the ankle seat 107. The stopper 119 is fixedly connected to one end of the sliding rod 116. The sleeve 118 is fixedly connected to the other end of the sliding rod 116. Both ends of the limiting spring 117 are respectively fixedly connected to the sleeve 118 and the ankle seat 107, and are sleeved on the outer wall of the sliding rod 116.

[0030] In this embodiment, when tightening the ankle of the patient, first pull the bilateral blocks 119, and the blocks 119 drive the slide bar 116 and the sleeve 118 to slide outward, and the bilateral limit springs 117 squeeze the ankle seat 107, placing the patient's ankle in the ankle seat 107, and the limit spring 117 applies a reaction force to the ankle through the squeezing force of the sleeve 118, thereby achieving the tightening effect of the ankle.

[0031] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

1. A single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism, characterized in that: It includes a base, a bracket, a spherical four-bar mechanism, a U-shaped frame, an ankle seat, a connecting plate, an expansion module and two groups of fixing modules. The bracket is fixedly connected to the base and is located above the base. The U-shaped frame is movably connected to the bracket and is located above the bracket. The ankle seat is movably connected to the U-shaped frame and is located inside the U-shaped frame. The connecting plate is fixedly connected to the ankle seat and is located above the ankle seat. The expansion module is connected to the ankle seat. The two groups of fixing modules are both connected to the ankle seat and are both located above the ankle seat.

2. A single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism as claimed in claim 1, characterized in that: The spherical four-bar mechanism includes a first curved bar, a second curved bar, a third curved bar and a fourth curved bar. The first curved bar is fixedly connected to the bracket and is located on the bracket. The fourth curved bar is movably connected to the connecting plate and is located on the outer side of the connecting plate. The two ends of the second curved bar are movably connected to the first curved bar and the fourth curved bar respectively. The two ends of the third curved bar are movably connected to the first curved bar and the fourth curved bar respectively.

3. A single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism as claimed in claim 1, characterized in that: The expansion module includes an expansion plate, a plug-in plate, a supporting spring and a supporting block. The ankle placement seat has a movable groove and a plurality of fixing holes. One end of the plug-in plate is fixedly connected to the expansion plate, and the other end of the plug-in plate is slidably connected to the ankle placement seat and is located in the movable groove. The plug-in plate has a groove, and the supporting block is respectively adapted to the groove and the plurality of fixing holes. The supporting spring is arranged in the groove and fixedly connected to the supporting block.

4. The single-degree-of-freedom spherical passive ankle joint rehabilitation mechanism according to claim 1, characterized in that: The fixing module includes a sliding rod, a limiting spring, a sleeve and a stopper. The sliding rod is slidably connected to the ankle placement seat and passes through the ankle placement seat. The stopper is fixedly connected to one end of the sliding rod, and the sleeve is fixedly connected to the other end of the sliding rod. Both ends of the limiting spring are respectively fixedly connected to the sleeve and the ankle placement seat, and are sleeved on the outer wall of the sliding rod.

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